EP3003812B1 - Operating method for a vehicle in manual mode and in autonomous mode - Google Patents

Operating method for a vehicle in manual mode and in autonomous mode Download PDF

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Publication number
EP3003812B1
EP3003812B1 EP14727741.2A EP14727741A EP3003812B1 EP 3003812 B1 EP3003812 B1 EP 3003812B1 EP 14727741 A EP14727741 A EP 14727741A EP 3003812 B1 EP3003812 B1 EP 3003812B1
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EP
European Patent Office
Prior art keywords
vehicle
automated system
distance
human driver
autonomous mode
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EP14727741.2A
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German (de)
French (fr)
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EP3003812A1 (en
Inventor
François DESNOYER
Sabine LANGLOIS
Marc LAVABRE
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Renault SAS
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Renault SAS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0061—Aborting handover process
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0051—Handover processes from occupants to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change
    • B60W2050/0096—Control during transition between modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2302/00—Responses or measures related to driver conditions
    • B60Y2302/05—Leading to automatic stopping of the vehicle

Definitions

  • the invention relates to a method and an automated system for supervising a vehicle operation in manual mode and in autonomous driving mode.
  • Driving assistance systems for example distance-controlled cruise control systems, allow a human driver to transfer part of his driving activity to automated systems. These systems are currently widely used on the market, and their functions are gradually combined with each other to make the vehicle completely autonomous. Such a type of vehicle allows the driver to benefit from driving delegation services over all or part of the duration of his journey. These driving delegation services can in particular be offered when the traffic conditions are dense and the average speed of the vehicle is sufficiently low. The way in which the driver delegates driving and in which the system returns control to the driver are absolutely essential for the quality of the service, as well as for the operating safety of the system. There are procedures for activating and deactivating longitudinal vehicle control systems such as a cruise control or a distance control system.
  • An autonomous vehicle system of the type to which the invention applies proposes to couple the longitudinal control of the vehicle with the lateral control.
  • Autonomous mode is reserved for areas in which traffic conditions are compatible with a lack of human control.
  • the zones are also defined to avoid as much as possible that the use of the autonomous mode does not create a danger or an anxiety-provoking situation.
  • document US8352110 discloses a user interface for displaying an internal state of an autonomous driving system.
  • the interface indicates to the user that the system is ready to operate in autonomous mode according to various information including in particular a geographic location of the vehicle.
  • the disclosed method and system have several problems, including that of keeping the vehicle safe when a zone in which autonomous mode is possible ends, while the human driver has delegated his driving vigilance to the automated system.
  • EP-A-2 314 490 discloses a method according to the preamble of claim 1.
  • the subject of the invention is a method of operating a vehicle comprising at least one step of driving in manual mode in which a longitudinal displacement and a lateral displacement are controlled by a human driver and at least one step of driving in autonomous mode in which in which longitudinal displacement and lateral displacement are controlled by an automated system.
  • a step of alerting the human driver is activated at least in autonomous mode when the automated system receives a first distance which separates the vehicle from an end of zone in which the mode stand-alone is allowed.
  • a step of automatically stopping the vehicle before reaching the end of the zone is activated in autonomous mode when the human driver does not take over control of the vehicle after reception of said first distance by the automated system.
  • the automated system calculates a second distance making it possible to stop the vehicle as a function of a deceleration accessed and / or calculated by the automated system to be used in the automatic stopping step.
  • the step of automatically stopping the vehicle is activated when said first distance is less than or equal to said second distance.
  • said second distance is calculated from a maximum authorized speed over said first distance.
  • document US8352110 discloses a user interface for displaying an internal state of an autonomous driving system.
  • the interface indicates to the user that the system is ready to operate in autonomous mode according to various information including in particular a geographic location of the vehicle.
  • the disclosed method and system have several problems, including that of keeping the vehicle safe when a zone in which autonomous mode is possible ends, while the human driver has delegated his driving vigilance to the automated system.
  • the document EP2314490 discloses a method for controlling the operation of a fully automatic assistance system in which, upon entering at least one support condition, an invitation to support the driver appears which leads to deactivation driver assistance system.
  • the subject of the invention is a method of operating a vehicle comprising at least one step of driving in manual mode in which a longitudinal displacement and a lateral displacement are controlled by a human driver and at least one step of driving in autonomous mode in which in which longitudinal displacement and lateral displacement are controlled by an automated system.
  • a step of alerting the human driver is activated at least in autonomous mode when the automated system receives a first distance which separates the vehicle from an end of zone in which the mode stand-alone is allowed.
  • a step of automatically stopping the vehicle before reaching the end of the zone is activated in autonomous mode when the human driver does not take over control of the vehicle after reception of said first distance by the automated system.
  • the automated system calculates a second distance making it possible to stop the vehicle as a function of a deceleration accessed and / or calculated by the automated system to be used in the automatic stopping step.
  • the step of automatically stopping the vehicle is activated when said first distance is less than or equal to said second distance.
  • said second distance is calculated from a maximum authorized speed over said first distance.
  • said deceleration is of constant calibrated value for the vehicle and said second distance comprises a first length proportional to a square of the speed of the vehicle and inversely proportional to double said deceleration.
  • said second distance comprises a second fixed length added to said first length.
  • the subject of the invention is also a computer program comprising program code instructions for executing the steps of the method according to the invention when said program is executed on a computer.
  • the subject of the invention is also an automated system comprising a computer in which a computer program according to the invention is installed.
  • a subject of the invention is a vehicle, in particular a motor vehicle, comprising an automated system according to the invention.
  • a step 144 of driving in manual mode consists in letting a human driver control a longitudinal displacement and a lateral displacement of the vehicle.
  • the longitudinal displacement is then controlled in the usual way by means of manual control members.
  • speed of the vehicle such as the accelerator and brake pedals
  • the lateral displacement is likewise controlled in the usual way by means of manual control members of the vehicle such as the steering wheel.
  • Step 144 thus reproduces a usual vehicle operation which, in the absence of the invention, could in a way be constantly activated.
  • a vehicle in particular a motor vehicle according to the invention, comprises an automated system in which automatic control actuators, known elsewhere, are controlled by a computer in which is installed a computer program comprising program code instructions. for performing the steps of the method explained below when the program is executed on the computer.
  • the computer is typically an on-board computer in the vehicle, capable of communicating with other on-board computers via a field network such as a CAN, LIN or other network and of communicating optionally but not necessarily with remote equipment such as positioning satellites associated with an on-board navigation device or such as centralized databases accessible by a telecommunications device.
  • the step 144 of driving in manual mode is preferably activated by default from an initial step 140, whatever the possible driving modes. , when the vehicle is started by the human driver.
  • a transition 145 is validated when driving the vehicle in autonomous mode is possible and a transition 141 is validated when, conversely, driving the vehicle in autonomous mode is not possible.
  • the conditions for validating the transition 145 are for example recorded in a table in memory of the automated system.
  • they may include a vehicle speed condition below a predefined threshold, a location of the vehicle in an area suitable for driving in autonomous mode, estimated in coordination with the vehicle's navigation center.
  • step 146 for displaying driving in possible autonomous mode is activated when the transition 145 is validated and a step 142 driving display in autonomous mode impossible is activated when transition 141 is validated.
  • display in steps 142 and 146 can denote both visual and audible signaling, permanent or on demand, and a simple absence of signaling in step 142, for example as long as the Signaling from step 146 is not present.
  • a transition 143 is validated when driving the vehicle in autonomous mode becomes possible.
  • a transition 150 is validated when a change from driving the vehicle to autonomous mode is no longer authorized. The end of authorization to switch to autonomous mode which validates the transition 150 may result from a possible end of autonomous mode; it can also result from other events as we will see below.
  • a logical disjunction validating the transition 143 or the transition 150 reactivates the initial step 140 to redirect the automation system to the branch of the appropriate manual operating mode.
  • a transition 147 is validated when the conditions local to the vehicle are met.
  • the lateral trajectory control with following marks on the roadway during execution constitutes a local condition for the substitution of the steering control by the human driver.
  • An absence of torque applied to the steering wheel by the human driver made possible, in particular by a straight line trajectory also constitutes a local condition for the substitution of the steering control by the human driver.
  • the speed regulator activated with instruction from the navigation unit for compliance with speed limits constitutes a local condition for the replacement of acceleration control by the human driver.
  • the collision detection system in conjunction with various obstacle proximity sensors, radars and / or cameras, to lower the speed setpoint so as to maintain a non-zero distance with the obstacle, fixed or moving, is also a condition. local to the substitution of acceleration control by the human driver. Pressing the brake pedal having priority at all times over the other components, automatic or manual, for safety reasons, releasing the accelerator pedal strengthens or confirms the local conditions to be met in order to effectively switch to mode. autonomous.
  • step 148 the automated system signals to the human driver that he is ready to take control of the driving of the vehicle and asks him to confirm without any ambiguity possible, his desire to transmit all control of the vehicle to the automated system in autonomous mode.
  • the automated system computer takes into account the resulting human driver commands to drive the automatic control actuators.
  • the automated system's computer arms a timer to measure the length of time the human driver keeps his hands on the steering wheel or his foot on one of the pedals.
  • the transition 150 is validated so that the confirmation by the human driver of switching to autonomous mode, is shortly after the meeting of the local conditions that allow exiting manual mode. It is preferable not to switch to autonomous mode too late, at a time which could surprise the human driver or which would no longer be in accordance with the conditions for switching to autonomous mode at the moment when the local conditions are met.
  • a transition 149 is validated when the human driver explicitly formulates his request to switch to autonomous mode.
  • the reception in the automated system, of a signal indicating an explicit desire of the human driver to switch to autonomous mode, may result from pressing a button A, from a movement of the joystick to the steering wheel by the human driver, from a selection on a touch screen, of unambiguous voice recognition of an oral command pronounced by the human driver possibly accompanied by a confirmation sequence, or of any other clearly voluntary command from the human driver explicitly requests to switch to autonomous mode.
  • a validation of the transition 149 then activates the step 244 of driving in autonomous mode explained now with reference to figure 2 .
  • the automated system ensures full control of both longitudinal and lateral movement of the vehicle in order to rest the lower and upper limbs of the human driver and free him from certain tedious tasks such as those of constantly affixing your speedometer and road signs to make sure you don't breach a limit.
  • the human driver can put his feet where he wants to as with a conventional cruise control.
  • the speed setpoint is here adapted according to the speed limits indicated. by the maps of the navigation device and the speed of a preceding vehicle, the distance of which is evaluated by a radar range finder or a camera.
  • the human driver can put his hands wherever he sees fit because the classic trajectory and stability control is enhanced by a lane recognition mechanism on the roadway by a camera in combination with a route given by the control device. navigation.
  • the autonomous mode illustrated by figure 2 comprises on the one hand a step 242 for displaying assured autonomous mode, activated by a transition 241 which is validated as long as the end of the zone in which the vehicle can travel in autonomous mode in a safe manner, is not known.
  • the standalone mode example illustrated by figure 2 comprises a step 246 for displaying the approach to the end of the zone, activated by a transition 243 which is validated when the automated system receives a distance value D1 which separates the vehicle from the end of the zone in which the stand-alone mode is allowed.
  • the distance value D1 is for example given by a navigation unit of the GPS or other type which has road mapping and road traffic conditions.
  • a navigation unit of the GPS or other type which has road mapping and road traffic conditions.
  • Step 246 makes it possible to alert the human driver so that he is about to take control of the vehicle soon.
  • the automated system receives the distance value D1 in real time so as to calculate in step 246, a distance D2 which allows a smooth stop of the vehicle at the end of the zone in the event that the human driver does not would not have regained control of the vehicle before the end of the zone.
  • the automated system contains in memory a deceleration calibrated to a sufficiently low value not to adversely affect the comfort of the passengers of the vehicle.
  • the deceleration calibration value is also high enough to be perceptible by the human driver so as to arouse his attention and not to require a distance D2 which is too long to stop.
  • a good compromise is obtained with a deceleration value of 1 m / s 2 . It will be understood that this value can be appreciably different within a range which varies between 0.7 m / s 2 and 1.6 m / s 2 without harming the expected behavior of the vehicle.
  • the automated system accesses the calibrated deceleration value y contained in memory or calculates a deceleration value within a predetermined range. At the same time, the automated system asks the navigation center for a maximum speed value V max authorized over the distance D1 which separates the vehicle from the end of the zone so as to calculate the stopping distance D2 at the end of the zone.
  • the automated system adds a second fixed length ⁇ , for example 10 meters, to D2.
  • ⁇ for example 10 meters
  • step 246 As long as step 246 is active, a transition 248 is validated when the end of zone distance D1 becomes less than or equal to the stopping distance D2.
  • validation of the transition 248 makes it possible to activate a step 248 for automatically stopping the vehicle before reaching the end of the zone, when the human driver does not take over control of the vehicle after the automated system has received distance D1, so as to avoid continuing to travel in autonomous mode outside the authorization zone.
  • step 248 the automated system slows down the vehicle by applying to it in autonomous mode the calibrated deceleration defined above.
  • the automated system triggers an automatic stopping procedure which brings the vehicle to a stop while maintaining the active lateral control.
  • the visual display on the screens and the triggering of an audible alarm warn the human driver. Switching on the exterior warning lights allows other road users to be informed of the behavior of the vehicle
  • a transition 249 is validated when the vehicle reaches zero speed.
  • a validation of the transition 249 activates a step 250 which consists in applying the automatic parking brake and returning to the initial step 140.
  • step 248 if a recovery in hand by the human driver is observed before or during the automatic shutdown procedure of step 248, then the method returns control to the driver for example but not necessarily in the manner explained now.
  • transition 245 to activate the semi-autonomous mode is also eligible for validation from a logical conjunction of step 244 and step 248 of automatic shutdown which is activated by the transition 247 validated in the absence of intervention of the human driver as the vehicle approaches an end of the possible driving zone in autonomous mode as displayed in step 246.
  • step 245 is validated when the automated system detects a torque applied to the steering wheel or a press on the shift pedal. brake or accelerator.
  • the human driver can take control of the vehicle at any time and thus counter the deceleration initiated in step 248, in particular to accelerate the vehicle and continue its journey in manual mode.
  • the transition 245 is validated by a manifestation of the presence of the human driver when he wants to regain control of the vehicle in manual driving mode.
  • a validation of the transition 245 activates a step 340 of driving in semi-autonomous mode explained now with reference to figure 3 .
  • transition 245 in fact groups together two transitions taken over by the human driver.
  • a transition 341 is validated when the automated system detects a torque applied to the steering wheel by the human driver to regain control of the lateral displacement.
  • the torque signal applied to the steering wheel of the power steering can be used for this purpose.
  • the system automated system detects the presence of gripping of the steering wheel by the human driver by means of touch sensors arranged on the steering wheel.
  • a transition 351 is validated when the automated system detects a force applied to the brake or accelerator pedal by the human driver to regain control of the longitudinal displacement.
  • a validation of the transition 341 activates an alarm step 342 in logical conjunction with the step 340 of driving in semi-autonomous mode.
  • the alarm step 342 consists in asking the human driver to quickly resume control of the longitudinal movement which momentarily continues to be controlled by the automated system, by pressing the brake or accelerator pedal, by means of a display. visual and / or an audio message.
  • the computer program arms a time delay to measure a delay which separates the resumption of the pedals from the resumption of the steering wheel.
  • a transition 343 is validated when the time limit is exceeded.
  • a validation of the transition 343 activates a step 344 of automatic stopping which consists in braking the vehicle when the human driver does not quickly take control of the longitudinal movement which continues to be controlled by the automated system.
  • the automated system takes into account the steering command which results from the torque applied to the steering wheel by the human driver. Slowing down the vehicle is sufficiently dissuasive to encourage the human driver to quickly regain full control of the vehicle.
  • a transition 345 is validated when the vehicle reaches zero speed.
  • a validation of the transition 345 activates a step 346 which consists in applying the automatic parking brake and returning to the initial step 140.
  • a transition 347 is validated when the automated system detects a press on the brake or accelerator pedal.
  • step 340 of driving in semi-autonomous mode in conjunction with steps 342 and 344, reactivates step 144 of driving in manual mode explained previously with reference to figure 1 .
  • a validation of the transition 351 activates an alarm step 352 in logical conjunction with the step 340 of driving in semi-autonomous mode.
  • the alarm step 352 consists in asking the human driver to quickly take over the lateral movement which momentarily continues to be controlled by the automated system, by gripping the steering wheel, by means of a visual display and / or a sound message.
  • the computer program arms a time delay to measure a delay which separates the resumption of the steering wheel from the resumption of the pedals.
  • a transition 353 is validated when the time limit is exceeded.
  • a validation of the transition 353 activates an automatic stop step 354 which consists in braking the vehicle when the human driver does not quickly take over the lateral displacement which continues to be controlled by the automated system.
  • the automated system takes into account the braking command which results from the pressure applied to the brake pedal by the human driver.
  • detection of pressure on the accelerator pedal has no effect on the braking imposed in step 354. Slowing down of the vehicle is sufficiently dissuasive to encourage the human driver to quickly regain full control of the vehicle.
  • a 355 transition is validated when the vehicle reaches zero speed.
  • a validation of the transition 355 activates a step 356 which consists in applying the automatic parking brake and returning to the initial step 140.
  • a transition 357 is validated when the automated system detects a torque manually applied to the flywheel.
  • transition 355 and the step 356 can be replaced respectively by the transition 345 and the step 356 which are similar to them.
  • the return to manual driving mode to exit from the autonomous driving mode via the semi-autonomous mode is activated when the human driver takes control of the longitudinal displacement and the lateral displacement.
  • the transient transition to autonomous mode is ephemeral if the human driver takes over simultaneously or almost simultaneously, longitudinal displacement and lateral displacement, transitions 347 and 357 being immediately validated following transitions 341 and 351.
  • the optional mode of implementation of the method presented here with reference to figure 3 offers the possibility of returning to autonomous driving mode when the resumption of control of a command by the human driver is not sufficiently asserted to indicate a firm desire on the part of the human driver to return to manual driving mode.
  • step 342 the automated system temporarily stores a maximum level of torque applied to the flywheel since the validation of the transition 341 and sets a short time delay, for example of the order of three seconds.
  • a transition 349 of rapid release of the steering wheel is validated when the maximum level of torque stored temporarily is lower than a predefined threshold and the human driver quickly releases his control over the lateral displacement before the short duration of the time delay is exhausted.
  • step 352 the automated system temporarily stores a maximum level of pressure applied to one of the pedals since the validation of the transition 351 and sets a short time delay, for example of the order of three seconds.
  • a transition 359 of rapid pedal release is validated when the maximum pressure level temporarily stored is below a predefined threshold and when the human driver quickly releases his control over the longitudinal displacement before the short duration of the time delay has been exhausted.
  • a validation of the transition 349 or of the transition 359 from the step 340 of driving in semi-autonomous mode then reactivates the step 244 of driving in the autonomous mode explained above with reference to the figure 2 .
  • the exit from the autonomous mode can be carried out at any time on the initiative of the human driver by going through the semi-autonomous mode, in a reversible or irreversible manner depending on the existence or not of the transitions 349, 359.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Description

L'invention concerne un procédé et un système automatisé pour superviser un fonctionnement de véhicule en mode manuel et en mode autonome de conduite.The invention relates to a method and an automated system for supervising a vehicle operation in manual mode and in autonomous driving mode.

Les systèmes d'aide à la conduite, par exemple les régulateurs de vitesse à contrôle de distance, permettent à un conducteur humain de se décharger d'une partie de son activité de conduite sur des systèmes automatisés. Ces systèmes sont actuellement largement répandus sur le marché, et leurs fonctions sont progressivement associées les unes aux autres pour rendre le véhicule complètement autonome. Un tel type de véhicule permet au conducteur de bénéficier de services de délégation de conduite sur toute ou partie de la durée de son parcours. Ces services de délégation de conduite peuvent notamment être proposés lorsque les conditions de trafic sont denses et la vitesse moyenne du véhicule suffisamment basse. La manière dont le conducteur délègue la conduite et dont le système rend la main au conducteur sont tout à fait essentielles pour la qualité de la prestation, ainsi que pour la sûreté de fonctionnement du système. Il existe des procédures d'activation et de désactivation de systèmes de contrôle longitudinal du véhicule comme dans le cas d'un régulateur de vitesse ou d'un système à contrôle de distance. Il existe aussi des procédures d'activation et de désactivation de systèmes de contrôle latéral comme ceux de détection de franchissement de ligne ou de maintien de trajectoire. Pour chacun de ces systèmes pris séparément, il est assez facile pour le conducteur de savoir si c'est lui qui a le contrôle ou si c'est l'automatisme. Un système de véhicule autonome du type auquel s'applique l'invention, propose de coupler le contrôle longitudinal du véhicule avec le contrôle latéral. Le mode autonome est réservé aux zones dans lesquelles les conditions de trafic sont compatibles avec une absence de contrôle humain. Les zones sont définies par ailleurs pour éviter au maximum que l'utilisation du mode autonome n'y crée un danger ou une situation anxiogène.Driving assistance systems, for example distance-controlled cruise control systems, allow a human driver to transfer part of his driving activity to automated systems. These systems are currently widely used on the market, and their functions are gradually combined with each other to make the vehicle completely autonomous. Such a type of vehicle allows the driver to benefit from driving delegation services over all or part of the duration of his journey. These driving delegation services can in particular be offered when the traffic conditions are dense and the average speed of the vehicle is sufficiently low. The way in which the driver delegates driving and in which the system returns control to the driver are absolutely essential for the quality of the service, as well as for the operating safety of the system. There are procedures for activating and deactivating longitudinal vehicle control systems such as a cruise control or a distance control system. There are also procedures for activating and deactivating lateral control systems such as those for lane departure detection or lane keeping. For each of these systems taken separately, it is quite easy for the driver to know if he is in control or if it is the automation. An autonomous vehicle system of the type to which the invention applies, proposes to couple the longitudinal control of the vehicle with the lateral control. Autonomous mode is reserved for areas in which traffic conditions are compatible with a lack of human control. The zones are also defined to avoid as much as possible that the use of the autonomous mode does not create a danger or an anxiety-provoking situation.

Pour illustrer l'état antérieur de la technique, le document US8352110 divulgue une interface utilisateur pour afficher un état interne de système de conduite autonome. En mode manuel, l'interface indique à l'utilisateur que le système est prêt à fonctionner en mode autonome en fonction de différentes informations comprenant notamment une localisation géographique du véhicule. Le procédé et le système divulgués présentent cependant plusieurs problèmes parmi lesquels celui de maintenir le véhicule en sécurité lorsque prend fin une zone dans laquelle le mode autonome est possible alors que le conducteur humain a délégué sa vigilance de conduite au système automatisé. EP-A-2 314 490 divulgue un procédé selon le préambule de la revendication 1.To illustrate the prior state of the art, document US8352110 discloses a user interface for displaying an internal state of an autonomous driving system. In manual mode, the interface indicates to the user that the system is ready to operate in autonomous mode according to various information including in particular a geographic location of the vehicle. The disclosed method and system, however, have several problems, including that of keeping the vehicle safe when a zone in which autonomous mode is possible ends, while the human driver has delegated his driving vigilance to the automated system. EP-A-2 314 490 discloses a method according to the preamble of claim 1.

L'invention a pour objet un procédé de fonctionnement d'un véhicule comportant au moins une étape de conduite en mode manuel dans laquelle un déplacement longitudinal et un déplacement latéral sont contrôlés par un conducteur humain et au moins une étape de conduite en mode autonome dans laquelle le déplacement longitudinal et le déplacement latéral sont contrôlés par un système automatisé.The subject of the invention is a method of operating a vehicle comprising at least one step of driving in manual mode in which a longitudinal displacement and a lateral displacement are controlled by a human driver and at least one step of driving in autonomous mode in which in which longitudinal displacement and lateral displacement are controlled by an automated system.

Pour répondre aux problèmes de l'état antérieur de la technique, une étape d'alerte du conducteur humain est activée au moins en mode autonome lorsque le système automatisé reçoit une première distance qui sépare le véhicule d'une fin de zone dans laquelle le mode autonome est autorisé.To respond to the problems of the prior state of the art, a step of alerting the human driver is activated at least in autonomous mode when the automated system receives a first distance which separates the vehicle from an end of zone in which the mode stand-alone is allowed.

Une étape d'arrêt automatique du véhicule avant d'atteindre la fin de zone, est activée en mode autonome lorsque le conducteur humain ne reprend pas en main le contrôle du véhicule après réception de ladite première distance par le système automatisé.A step of automatically stopping the vehicle before reaching the end of the zone is activated in autonomous mode when the human driver does not take over control of the vehicle after reception of said first distance by the automated system.

De préférence, le système automatisé calcule une deuxième distance permettant d'arrêter le véhicule en fonction d'une décélération accédée et/ou calculée par le système automatisé pour être utilisée dans l'étape d'arrêt automatique.Preferably, the automated system calculates a second distance making it possible to stop the vehicle as a function of a deceleration accessed and / or calculated by the automated system to be used in the automatic stopping step.

Avantageusement, l'étape d'arrêt automatique du véhicule est activée lorsque ladite première distance est inférieure ou égale à ladite deuxième distance.Advantageously, the step of automatically stopping the vehicle is activated when said first distance is less than or equal to said second distance.

Selon l'invention, ladite deuxième distance est calculée à partir d'une vitesse maximale autorisée sur ladite première distance.According to the invention, said second distance is calculated from a maximum authorized speed over said first distance.

Pour illustrer l'état antérieur de la technique, le document US8352110 divulgue une interface utilisateur pour afficher un état interne de système de conduite autonome. En mode manuel, l'interface indique à l'utilisateur que le système est prêt à fonctionner en mode autonome en fonction de différentes informations comprenant notamment une localisation géographique du véhicule. Le procédé et le système divulgués présentent cependant plusieurs problèmes parmi lesquels celui de maintenir le véhicule en sécurité lorsque prend fin une zone dans laquelle le mode autonome est possible alors que le conducteur humain a délégué sa vigilance de conduite au système automatisé.To illustrate the prior state of the art, document US8352110 discloses a user interface for displaying an internal state of an autonomous driving system. In manual mode, the interface indicates to the user that the system is ready to operate in autonomous mode according to various information including in particular a geographic location of the vehicle. The disclosed method and system, however, have several problems, including that of keeping the vehicle safe when a zone in which autonomous mode is possible ends, while the human driver has delegated his driving vigilance to the automated system.

Le document EP2314490 divulgue un procédé de commande du fonctionnement d'un système d'assistance totalement automatique dans lequel, à l'entrée d'au moins une condition de prise en charge, il apparaît une invitation de prise en charge par le conducteur qui mène à une désactivation du système d'assistance au conducteur.The document EP2314490 discloses a method for controlling the operation of a fully automatic assistance system in which, upon entering at least one support condition, an invitation to support the driver appears which leads to deactivation driver assistance system.

L'invention a pour objet un procédé de fonctionnement d'un véhicule comportant au moins une étape de conduite en mode manuel dans laquelle un déplacement longitudinal et un déplacement latéral sont contrôlés par un conducteur humain et au moins une étape de conduite en mode autonome dans laquelle le déplacement longitudinal et le déplacement latéral sont contrôlés par un système automatisé.The subject of the invention is a method of operating a vehicle comprising at least one step of driving in manual mode in which a longitudinal displacement and a lateral displacement are controlled by a human driver and at least one step of driving in autonomous mode in which in which longitudinal displacement and lateral displacement are controlled by an automated system.

Pour répondre aux problèmes de l'état antérieur de la technique, une étape d'alerte du conducteur humain est activée au moins en mode autonome lorsque le système automatisé reçoit une première distance qui sépare le véhicule d'une fin de zone dans laquelle le mode autonome est autorisé.To respond to the problems of the prior state of the art, a step of alerting the human driver is activated at least in autonomous mode when the automated system receives a first distance which separates the vehicle from an end of zone in which the mode stand-alone is allowed.

Une étape d'arrêt automatique du véhicule avant d'atteindre la fin de zone, est activée en mode autonome lorsque le conducteur humain ne reprend pas en main le contrôle du véhicule après réception de ladite première distance par le système automatisé.A step of automatically stopping the vehicle before reaching the end of the zone is activated in autonomous mode when the human driver does not take over control of the vehicle after reception of said first distance by the automated system.

De préférence, le système automatisé calcule une deuxième distance permettant d'arrêter le véhicule en fonction d'une décélération accédée et/ou calculée par le système automatisé pour être utilisée dans l'étape d'arrêt automatique.Preferably, the automated system calculates a second distance making it possible to stop the vehicle as a function of a deceleration accessed and / or calculated by the automated system to be used in the automatic stopping step.

Avantageusement, l'étape d'arrêt automatique du véhicule est activée lorsque ladite première distance est inférieure ou égale à ladite deuxième distance.Advantageously, the step of automatically stopping the vehicle is activated when said first distance is less than or equal to said second distance.

Particulièrement, ladite deuxième distance est calculée à partir d'une vitesse maximale autorisée sur ladite première distance.In particular, said second distance is calculated from a maximum authorized speed over said first distance.

Particulièrement aussi, ladite décélération est de valeur calibrée constante pour le véhicule et ladite deuxième distance comprend une première longueur proportionnelle à un carré de vitesse du véhicule et inversement proportionnelle au double de ladite décélération.Particularly also, said deceleration is of constant calibrated value for the vehicle and said second distance comprises a first length proportional to a square of the speed of the vehicle and inversely proportional to double said deceleration.

Plus particulièrement, ladite deuxième distance comprend une deuxième longueur fixe ajoutée à ladite première longueur.More particularly, said second distance comprises a second fixed length added to said first length.

Un agrément apporté en supplément par le procédé résulte de ce que ladite décélération est de valeur suffisamment faible pour ne pas nuire au confort des passagers du véhicule.An additional approval provided by the method results from the fact that said deceleration is of a sufficiently low value not to harm the comfort of the passengers of the vehicle.

L'invention a aussi pour objet un programme d'ordinateur comprenant des instructions de code de programme pour l'exécution des étapes du procédé selon l'invention lorsque ledit programme est exécuté sur un ordinateur.The subject of the invention is also a computer program comprising program code instructions for executing the steps of the method according to the invention when said program is executed on a computer.

L'invention a encore pour objet un système automatisé comprenant un ordinateur dans lequel est installé un programme d'ordinateur selon l'invention.The subject of the invention is also an automated system comprising a computer in which a computer program according to the invention is installed.

L'invention a enfin pour objet un véhicule, notamment un véhicule automobile, comprenant un système automatisé selon l'invention.Finally, a subject of the invention is a vehicle, in particular a motor vehicle, comprising an automated system according to the invention.

L'invention sera mieux comprise à l'aide d'exemples de mise en œuvre d'étapes de procédé conforme à l'invention en référence aux dessins annexés, dans lesquels :

  • la figure 1 montre des étapes de procédé conforme à l'invention en mode manuel ;
  • la figure 2 montre des étapes de procédé conforme à l'invention en mode autonome ;
  • la figure 3 montre des étapes de procédé conforme à l'invention en mode semi autonome.
The invention will be better understood with the aid of examples of the implementation of process steps in accordance with the invention with reference to the appended drawings, in which:
  • the figure 1 shows the process steps according to the invention in manual mode;
  • the figure 2 shows the process steps according to the invention in stand-alone mode;
  • the figure 3 shows process steps in accordance with the invention in semi-autonomous mode.

Dans le procédé de fonctionnement d'un véhicule expliqué en référence à la figure 1, une étape 144 de conduite en mode manuel consiste à laisser un conducteur humain contrôler un déplacement longitudinal et un déplacement latéral du véhicule. Le déplacement longitudinal est alors contrôlé de manière habituelle au moyen d'organes de commande manuelle de vitesse du véhicule tels que les pédales d'accélérateur et de freins Le déplacement latéral est de même contrôlé de manière habituelle au moyen d'organes de commande manuelle de direction du véhicule tels que le volant.In the method of operating a vehicle explained with reference to figure 1 , a step 144 of driving in manual mode consists in letting a human driver control a longitudinal displacement and a lateral displacement of the vehicle. The longitudinal displacement is then controlled in the usual way by means of manual control members. speed of the vehicle such as the accelerator and brake pedals The lateral displacement is likewise controlled in the usual way by means of manual control members of the vehicle such as the steering wheel.

L'étape 144 reproduit ainsi un fonctionnement habituel de véhicule qui, en absence de l'invention pourrait en quelque sorte être constamment activée.Step 144 thus reproduces a usual vehicle operation which, in the absence of the invention, could in a way be constantly activated.

Un véhicule, notamment un véhicule automobile conforme à l'invention, comprend un système automatisé dans lequel des actionneurs de commande automatique, connus par ailleurs, sont pilotés par un ordinateur dans lequel est installé un programme d'ordinateur comprenant des instructions de code de programme pour l'exécution des étapes du procédé expliqué ci-dessous lorsque le programme est exécuté sur l'ordinateur. L'ordinateur est typiquement un calculateur embarqué dans le véhicule, capable de communiquer avec d'autres calculateurs embarqués via un réseau de terrain tel qu'un réseau CAN, LIN ou autre et de communiquer optionnellement mais non nécessairement avec des équipements distants tels que des satellites de positionnement associés à un appareil embarqué de navigation ou tels que des bases de données centralisées accessibles par un appareil de télécommunication.A vehicle, in particular a motor vehicle according to the invention, comprises an automated system in which automatic control actuators, known elsewhere, are controlled by a computer in which is installed a computer program comprising program code instructions. for performing the steps of the method explained below when the program is executed on the computer. The computer is typically an on-board computer in the vehicle, capable of communicating with other on-board computers via a field network such as a CAN, LIN or other network and of communicating optionally but not necessarily with remote equipment such as positioning satellites associated with an on-board navigation device or such as centralized databases accessible by a telecommunications device.

Le procédé est à présent expliqué au moyen d'une représentation grafcet dans laquelle on rappelle qu'une transition à la suite d'une ou plusieurs étapes précédentes, est validée par une détection d'un ou plusieurs événements prédéfinis lorsque tout ou partie de ladite ou desdites étapes précédentes sont actives et qu'une validation de ladite transition active une ou plusieurs étapes suivantes et désactive ladite ou lesdites étapes précédentes, conformément aux conventions de représentation grafcet. On comprendra que cette représentation a été choisie pour la clarté qu'elle procure et qu'elle n'est en rien limitative. Une représentation sous forme d'organigramme informatique, de circuit logique combinatoire ou de tout autre mécanisme matériel, est de manière identique couvert par les explications qui vont suivre, le procédé n'étant pas limité au-delà des actions qui sont exécutées dans les étapes qui lui sont essentielles et des conditions à l'exécution de ces actions.The method is now explained by means of a grafcet representation in which it is recalled that a transition following one or more preceding steps is validated by a detection of one or more predefined events when all or part of said or said preceding steps are active and a validation of said transition activates one or more following steps and deactivates said preceding step or steps, in accordance with grafcet representation conventions. It will be understood that this representation was chosen for the clarity it provides and that it is in no way limiting. A representation in the form of a computer flowchart, a combinatorial logic circuit or any other hardware mechanism is identically covered by the explanations which follow, the method not being limited beyond the actions which are carried out in the steps which are essential to it and conditions for the execution of these actions.

Dans le procédé mis en œuvre par exemple en faisant intervenir le système automatisé indiqué ci-dessus, l'étape 144 de conduite en mode manuel est de préférence activée par défaut à partir d'une étape initiale 140, quelques soient les modes de conduite possibles, au démarrage du véhicule par le conducteur humain.In the method implemented for example by involving the automated system indicated above, the step 144 of driving in manual mode is preferably activated by default from an initial step 140, whatever the possible driving modes. , when the vehicle is started by the human driver.

A partir de l'étape 140, une transition 145 est validée lorsque la conduite du véhicule en mode autonome est possible et une transition 141 est validée lorsqu'à l'inverse, la conduite du véhicule en mode autonome n'est pas possible.From step 140, a transition 145 is validated when driving the vehicle in autonomous mode is possible and a transition 141 is validated when, conversely, driving the vehicle in autonomous mode is not possible.

Les étapes à présent décrites en référence à la figure 1, ont pour rôle essentiel de superviser un passage de mode manuel de conduite vers un mode autonome de conduite expliqué plus tard en référence à la figure 2. Dans le mode autonome de conduite, le déplacement longitudinal et le déplacement latéral du véhicule sont contrôlés par le système automatisé sans intervention du conducteur humain.The steps now described with reference to figure 1 , have the essential role of supervising a change from manual driving mode to an autonomous driving mode explained later with reference to the figure 2 . In autonomous driving mode, the longitudinal displacement and lateral displacement of the vehicle are controlled by the automated system without the intervention of the human driver.

Les conditions de validation de la transition 145 sont par exemple consignées dans une table en mémoire du système automatisé. A titre purement illustratif et non exhaustif, elles peuvent comprendre une condition de vitesse du véhicule inférieure à un seuil prédéfini, une localisation du véhicule dans une zone appropriée à la conduite en mode autonome, estimée en coordination avec la centrale de navigation du véhicule.The conditions for validating the transition 145 are for example recorded in a table in memory of the automated system. By way of purely illustration and not being exhaustive, they may include a vehicle speed condition below a predefined threshold, a location of the vehicle in an area suitable for driving in autonomous mode, estimated in coordination with the vehicle's navigation center.

Parallèlement à l'étape 144 de mode manuel activé qui est activée quelle que soit celle des transitions 141 et 145 qui est validée, une étape 146 d'affichage de conduite en mode autonome possible est activée lorsque la transition 145 est validée et une étape 142 d'affichage de conduite en mode autonome impossible est activée lorsque la transition 141 est validée. Le terme d'affichage dans les étapes 142 et 146, à prendre dans son acception la plus large, peut désigner tant une signalisation visuelle que sonore, permanente ou à la demande qu'une simple absence de signalisation en étape 142 par exemple tant que la signalisation de l'étape 146 n'est pas présente.In parallel with step 144 of activated manual mode which is activated regardless of which of transitions 141 and 145 is validated, a step 146 for displaying driving in possible autonomous mode is activated when the transition 145 is validated and a step 142 driving display in autonomous mode impossible is activated when transition 141 is validated. The term display in steps 142 and 146, to be taken in its broadest sense, can denote both visual and audible signaling, permanent or on demand, and a simple absence of signaling in step 142, for example as long as the Signaling from step 146 is not present.

A partir d'une conjonction logique de l'étape 142 et de l'étape 144, une transition 143 est validée lorsque la conduite du véhicule en mode autonome devient possible. A partir d'une conjonction logique de l'étape 146 et de l'étape 144, une transition 150 est validée lorsqu'un passage de conduite du véhicule en mode autonome n'est plus autorisé. La fin d'autorisation de passage en mode autonome qui valide la transition 150 peut résulter d'une fin de mode autonome possible ; elle peut résulter aussi d'autres événements comme nous le verrons par la suite.From a logical conjunction of step 142 and step 144, a transition 143 is validated when driving the vehicle in autonomous mode becomes possible. From a logical conjunction of step 146 and step 144, a transition 150 is validated when a change from driving the vehicle to autonomous mode is no longer authorized. The end of authorization to switch to autonomous mode which validates the transition 150 may result from a possible end of autonomous mode; it can also result from other events as we will see below.

Une disjonction logique de validation de la transition 143 ou de la transition 150, réactive l'étape initiale 140 pour ré-aiguiller l'automatisme dans la branche du mode manuel de fonctionnement qui convient.A logical disjunction validating the transition 143 or the transition 150 reactivates the initial step 140 to redirect the automation system to the branch of the appropriate manual operating mode.

A partir de l'étape 146 activée sous stipulation de mode autonome possible, une transition 147 est validée lorsque les conditions locales au véhicule sont réunies. A titre illustratif, le contrôle latéral de trajectoire avec suivi de repères sur la chaussée en exécution, constitue une condition locale à la substitution du contrôle de direction par le conducteur humain. Une absence de couple appliqué au volant par le conducteur humain rendu possible, notamment par une trajectoire en ligne droite, constitue aussi une condition locale à la substitution du contrôle de direction par le conducteur humain. A titre illustratif encore, le régulateur de vitesse activé avec consigne en provenance de la centrale de navigation pour le respect des limitations de vitesse, constitue une condition locale à la substitution du contrôle d'accélération par le conducteur humain. Le système de détection de collision en relation avec divers capteurs de proximité d'obstacles, radars et/ou caméra, pour abaisser la consigne de vitesse de façon à maintenir une distance non nulle avec l'obstacle, fixe ou mobile, constitue aussi une condition locale à la substitution du contrôle d'accélération par le conducteur humain. L'appui sur la pédale de frein étant à tout moment prioritaire sur les autres organes, automatiques ou manuels, pour raison de sécurité, un lâché de la pédale d'accélérateur renforce ou confirme les conditions locales à réunir pour permettre de passer effectivement en mode autonome.From step 146 activated under stipulation of possible autonomous mode, a transition 147 is validated when the conditions local to the vehicle are met. By way of illustration, the lateral trajectory control with following marks on the roadway during execution, constitutes a local condition for the substitution of the steering control by the human driver. An absence of torque applied to the steering wheel by the human driver made possible, in particular by a straight line trajectory, also constitutes a local condition for the substitution of the steering control by the human driver. By way of further illustration, the speed regulator activated with instruction from the navigation unit for compliance with speed limits constitutes a local condition for the replacement of acceleration control by the human driver. The collision detection system in conjunction with various obstacle proximity sensors, radars and / or cameras, to lower the speed setpoint so as to maintain a non-zero distance with the obstacle, fixed or moving, is also a condition. local to the substitution of acceleration control by the human driver. Pressing the brake pedal having priority at all times over the other components, automatic or manual, for safety reasons, releasing the accelerator pedal strengthens or confirms the local conditions to be met in order to effectively switch to mode. autonomous.

Une validation de la transition 147 active une étape 148 de mode autonome activable. Dans l'étape 148, le système automatisé signale au conducteur humain qu'il est prêt à prendre le contrôle de la conduite du véhicule et lui demande de confirmer sans ambiguïté possible, sa volonté de transmettre la totalité du contrôle du véhicule au système automatisé en mode autonome. Tant que le conducteur humain ne confirme pas clairement sa volonté de quitter le mode manuel, l'ordinateur du système automatisé prend en compte les commandes du conducteur humain qui en résultent pour piloter les actionneurs de commande automatique. Simultanément, l'ordinateur du système automatisé arme une temporisation pour mesurer la durée pendant laquelle le conducteur humain maintient ses mains sur le volant ou son pied sur l'une des pédales.A validation of the transition 147 activates a step 148 of activatable autonomous mode. In step 148, the automated system signals to the human driver that he is ready to take control of the driving of the vehicle and asks him to confirm without any ambiguity possible, his desire to transmit all control of the vehicle to the automated system in autonomous mode. Until the human driver clearly confirms his willingness to exit manual mode, the automated system computer takes into account the resulting human driver commands to drive the automatic control actuators. At the same time, the automated system's computer arms a timer to measure the length of time the human driver keeps his hands on the steering wheel or his foot on one of the pedals.

Si la durée mesurée atteint un délai prédéfini, généralement très court de l'ordre de la seconde, la transition 150 est validée de façon à ce que la confirmation par le conducteur humain de passage en mode autonome, soit à brève échéance après la réunion des conditions locales qui permettent de quitter le mode manuel. Il est préférable de ne pas passer en mode autonome trop tard, à un moment qui pourrait surprendre le conducteur humain ou qui ne serait plus en accord avec les conditions de passage en mode autonome à l'instant auquel les conditions locales sont réunies.If the measured duration reaches a predefined time, generally very short of the order of a second, the transition 150 is validated so that the confirmation by the human driver of switching to autonomous mode, is shortly after the meeting of the local conditions that allow exiting manual mode. It is preferable not to switch to autonomous mode too late, at a time which could surprise the human driver or which would no longer be in accordance with the conditions for switching to autonomous mode at the moment when the local conditions are met.

A partir d'une conjonction logique de l'étape 148 et de l'étape 144, une transition 149 est validée lorsque le conducteur humain formule explicitement sa demande de passer en mode autonome. La réception dans le système automatisé, d'un signal indiquant une volonté explicite du conducteur humain de passer en mode autonome, peut résulter d'un appui sur un bouton A, d'un déplacement de manette au volant par le conducteur humain, d'une sélection sur un écran tactile, d'une reconnaissance vocale univoque d'un ordre oral prononcé par le conducteur humain accompagnée possiblement d'une séquence de confirmation, ou de toute autre commande clairement volontaire du conducteur humain demande explicite de passer en mode autonome.From a logical conjunction of step 148 and step 144, a transition 149 is validated when the human driver explicitly formulates his request to switch to autonomous mode. The reception in the automated system, of a signal indicating an explicit desire of the human driver to switch to autonomous mode, may result from pressing a button A, from a movement of the joystick to the steering wheel by the human driver, from a selection on a touch screen, of unambiguous voice recognition of an oral command pronounced by the human driver possibly accompanied by a confirmation sequence, or of any other clearly voluntary command from the human driver explicitly requests to switch to autonomous mode.

Une validation de la transition 149 active alors l'étape 244 de conduite en mode autonome expliqué maintenant en référence à la figure 2.A validation of the transition 149 then activates the step 244 of driving in autonomous mode explained now with reference to figure 2 .

Dans le mode autonome de conduite, le système automatisé assure la totalité du contrôle tant du déplacement longitudinal que du déplacement latéral du véhicule en vue de reposer les membres inférieurs et supérieurs du conducteur humain et de le libérer de certaines tâches fastidieuses comme celles de fixer constamment son compteur de vitesse et les panneaux routiers pour s'assurer de ne pas enfreindre une limitation.In the autonomous driving mode, the automated system ensures full control of both longitudinal and lateral movement of the vehicle in order to rest the lower and upper limbs of the human driver and free him from certain tedious tasks such as those of constantly affixing your speedometer and road signs to make sure you don't breach a limit.

Le conducteur humain peut poser ses pieds où bon lui semble comme avec un régulateur de vitesse classique. A la différence d'un régulateur de vitesse classique pour lequel la consigne de vitesse est positionnée par le conducteur humain puis maintenue constante jusqu'à ce que le conducteur humain la modifie, la consigne de vitesse est ici adaptée en fonction des limitations de vitesse indiquées par les cartographies de l'appareil de navigation et de la vitesse d'un véhicule précédent dont la distance est évaluée par un télémètre radar ou une caméra.The human driver can put his feet where he wants to as with a conventional cruise control. Unlike a conventional cruise control for which the speed setpoint is set by the human driver and then kept constant until the human driver changes it, the speed setpoint is here adapted according to the speed limits indicated. by the maps of the navigation device and the speed of a preceding vehicle, the distance of which is evaluated by a radar range finder or a camera.

De même, le conducteur humain peut poser ses mains où bon lui semble car le contrôle de trajectoire et de stabilité classique est agrémenté d'un mécanisme de reconnaissance de voie sur la chaussée par une caméra en combinaison avec un parcours donné par l'appareil de navigation.Likewise, the human driver can put his hands wherever he sees fit because the classic trajectory and stability control is enhanced by a lane recognition mechanism on the roadway by a camera in combination with a route given by the control device. navigation.

Le mode autonome illustré par la figure 2 comprend d'une part une étape 242 d'affichage de mode autonome assuré, activée par une transition 241 qui est validée tant que la fin de la zone dans laquelle le véhicule peut circuler en mode autonome de manière sécuritaire, n'est pas connue.The autonomous mode illustrated by figure 2 comprises on the one hand a step 242 for displaying assured autonomous mode, activated by a transition 241 which is validated as long as the end of the zone in which the vehicle can travel in autonomous mode in a safe manner, is not known.

L'exemple de mode autonome illustré par la figure 2 comprend d'autre part une étape 246 d'affichage d'approche de fin de zone, activée par une transition 243 qui est validée lorsque le système automatisé reçoit une valeur de distance D1 qui sépare le véhicule da la fin de la zone dans laquelle le mode autonome est autorisé. La valeur de distance D1 est par exemple donnée par une centrale de navigation de type GPS ou autre qui dispose d'une cartographie routière et des conditions de circulation routières. A titre illustratif, on peut mentionner les situations dans lesquelles la centrale de navigation identifie la fin de zone de conduite déléguée, qui correspond à une pénétration dans une autre zone dans laquelle le trafic se fluidifie ou bien dans laquelle l'infrastructure se modifie : péage, sortie d'autoroute, ou encore correspond à la présence d'un incident sur le parcours : travaux, accident ou autre.The standalone mode example illustrated by figure 2 on the other hand comprises a step 246 for displaying the approach to the end of the zone, activated by a transition 243 which is validated when the automated system receives a distance value D1 which separates the vehicle from the end of the zone in which the stand-alone mode is allowed. The distance value D1 is for example given by a navigation unit of the GPS or other type which has road mapping and road traffic conditions. By way of illustration, we can mention the situations in which the navigation unit identifies the end of the delegated control zone, which corresponds to entering another zone in which the traffic is becoming more fluid or in which the infrastructure is changing: toll , motorway exit, or even corresponds to the presence of an incident on the route: work, accident or other.

L'étape 246 permet d'alerter le conducteur humain pour qu'il s'apprête à reprendre bientôt en main le véhicule. On peut prévoir à titre optionnel d'afficher en permanence la distance D1 qui décroît en temps réel au fur et à mesure que le véhicule se rapproche de la fin de zone de façon à faciliter au conducteur humain sa prise de décision quant à sa reprise en main du véhicule, en d'autres termes quant au repassage en mode manuel.Step 246 makes it possible to alert the human driver so that he is about to take control of the vehicle soon. We can optionally provide permanently display the distance D1 which decreases in real time as the vehicle approaches the end of the zone so as to facilitate the human driver's decision to take back control of the vehicle, in d 'other terms regarding ironing in manual mode.

En tout état de cause, le système automatisé reçoit en temps réel la valeur de distance D1 de façon à calculer en étape 246, une distance D2 qui permet un arrêt en douceur du véhicule en fin de zone pour le cas où le conducteur humain n'aurait pas repris en main le véhicule avant la fin de zone.In any event, the automated system receives the distance value D1 in real time so as to calculate in step 246, a distance D2 which allows a smooth stop of the vehicle at the end of the zone in the event that the human driver does not would not have regained control of the vehicle before the end of the zone.

Dans ce but, le système automatisé contient en mémoire une décélération calibrée à une valeur suffisamment faible pour ne pas nuire au confort des passagers du véhicule. La valeur de calibration de la décélération est aussi suffisamment élevée pour être perceptible par le conducteur humain de façon à éveiller son attention et à ne pas nécessiter une distance D2 trop longue pour s'arrêter. Un bon compromis est obtenu avec une valeur de décélération de 1 m/s2. On comprendra que cette valeur peut sensiblement être différente dans une plage qui varie entre 0,7 m/s2 et 1,6 m/s2 sans nuire au comportement attendu du véhicule.For this purpose, the automated system contains in memory a deceleration calibrated to a sufficiently low value not to adversely affect the comfort of the passengers of the vehicle. The deceleration calibration value is also high enough to be perceptible by the human driver so as to arouse his attention and not to require a distance D2 which is too long to stop. A good compromise is obtained with a deceleration value of 1 m / s 2 . It will be understood that this value can be appreciably different within a range which varies between 0.7 m / s 2 and 1.6 m / s 2 without harming the expected behavior of the vehicle.

Le système automatisé accède à la valeur de décélération y calibrée contenue en mémoire ou calcule une valeur de décélération dans une plage prédéterminée. En parallèle, le système automatisé demande à la centrale de navigation une valeur maximale Vmax de vitesse autorisée sur la distance D1 qui sépare le véhicule de la fin de zone de façon à calculer la distance D2 d'arrêt en fin de zone.The automated system accesses the calibrated deceleration value y contained in memory or calculates a deceleration value within a predetermined range. At the same time, the automated system asks the navigation center for a maximum speed value V max authorized over the distance D1 which separates the vehicle from the end of the zone so as to calculate the stopping distance D2 at the end of the zone.

Par exemple, avec une valeur calibrée constante de décélération pour le véhicule, le système automatisé calcule une première longueur de distance D2 d'arrêt, proportionnelle à un carré de vitesse du véhicule et inversement proportionnelle au double de ladite décélération : D 2 : = V max 2 2 ⋅ γ

Figure imgb0001
For example, with a constant calibrated value of deceleration for the vehicle, the automated system calculates a first length of stopping distance D2, proportional to a square of the speed of the vehicle and inversely proportional to the double of said deceleration: D 2 : = V max 2 2 ⋅ γ
Figure imgb0001

Pour garantir une marge d'erreur, le système automatisé peut majorer la valeur précédemment obtenue, par exemple de sensiblement 10% :
D2 := 1,1 D2To ensure a margin of error, the automated system can increase the value previously obtained, for example by significantly 10%:
D2: = 1.1 D2

Lorsque mieux vaut s'arrêter avant qu'après la fin de zone, le système automatisé ajoute une deuxième longueur fixe ε, par exemple de 10 mètres, à D2. D 2 : = D 2 + ε .

Figure imgb0002
When it is better to stop before than after the end of the zone, the automated system adds a second fixed length ε, for example 10 meters, to D2. D 2 : = D 2 + ε .
Figure imgb0002

Tant que l'étape 246 est active, une transition 248 est validée lorsque la distance D1 de fin de zone devient inférieure ou égale à la distance D2 d'arrêt.As long as step 246 is active, a transition 248 is validated when the end of zone distance D1 becomes less than or equal to the stopping distance D2.

Ainsi, une validation de la transition 248 permet d'activer une étape 248 d'arrêt automatique du véhicule avant d'atteindre la fin de zone, lorsque le conducteur humain ne reprend pas en main le contrôle du véhicule après que le système automatisé ait reçu la distance D1, de manière à éviter de continuer à circuler en mode autonome en dehors de la zone d'autorisation.Thus, validation of the transition 248 makes it possible to activate a step 248 for automatically stopping the vehicle before reaching the end of the zone, when the human driver does not take over control of the vehicle after the automated system has received distance D1, so as to avoid continuing to travel in autonomous mode outside the authorization zone.

Dans l'étape 248, le système automatisé ralentit le véhicule en lui appliquant en mode autonome la décélération calibrée définie ci-dessus.In step 248, the automated system slows down the vehicle by applying to it in autonomous mode the calibrated deceleration defined above.

De la sorte, si une reprise en main du conducteur humain n'est pas détectée lorsque le seuil de distance D2 est atteint ou franchi, le système automatisé déclenche une procédure d'arrêt automatique qui amène le véhicule à l'arrêt tout en maintenant le contrôle latéral actif. L'affichage visuel sur les écrans et le déclenchement d'une alarme sonore préviennent le conducteur humain. La mise en route des feux de détresse (warnings en anglais) extérieurs permet aux autres usagers de la route d'être informés du comportement du véhiculeIn this way, if a recovery in hand by the human driver is not detected when the distance threshold D2 is reached or crossed, the automated system triggers an automatic stopping procedure which brings the vehicle to a stop while maintaining the active lateral control. The visual display on the screens and the triggering of an audible alarm warn the human driver. Switching on the exterior warning lights allows other road users to be informed of the behavior of the vehicle

Une transition 249 est validée lorsque le véhicule atteint une vitesse nulle.A transition 249 is validated when the vehicle reaches zero speed.

Une validation de la transition 249 active une étape 250 qui consiste à serrer le frein de parking automatique et à retourner dans l'étape initiale 140.A validation of the transition 249 activates a step 250 which consists in applying the automatic parking brake and returning to the initial step 140.

Par contre, si une reprise en main par le conducteur humain est constatée avant ou pendant la procédure d'arrêt automatique de l'étape 248, alors le procédé rend la main au conducteur par exemple mais non nécessairement de la manière expliquée à présent.On the other hand, if a recovery in hand by the human driver is observed before or during the automatic shutdown procedure of step 248, then the method returns control to the driver for example but not necessarily in the manner explained now.

Une transition 245 expliquée plus loin dans le texte permettant d'activer un mode semi autonome, est éligible à la validation indifféremment à partir d'une conjonction logique de l'étape 242 et de l'étape 244 ou d'une conjonction logique de l'étape 244 et de l'étape 246.A transition 245 explained later in the text enabling a semi-autonomous mode to be activated, is eligible for validation regardless of from a logical conjunction of step 242 and step 244 or a logical conjunction of step 244 and step 246.

La transition 245 pour activer le mode semi autonome, est aussi éligible à la validation à partir d'une conjonction logique de l'étape 244 et de l'étape 248 d'arrêt automatique qui est activée par la transition 247 validée en absence d'intervention du conducteur humain alors que le véhicule approche une fin de zone de conduite possible en mode autonome comme affiché en étape 246.The transition 245 to activate the semi-autonomous mode is also eligible for validation from a logical conjunction of step 244 and step 248 of automatic shutdown which is activated by the transition 247 validated in the absence of intervention of the human driver as the vehicle approaches an end of the possible driving zone in autonomous mode as displayed in step 246.

A tout moment à partir de l'étape 246 ou de l'étape 248 tant que l'étape 250 n'est pas atteinte, la transition 245 est validée lorsque le système automatisé détecte un couple appliqué au volant ou un appui sur la pédale de frein ou d'accélérateur.At any time from step 246 or step 248 as long as step 250 has not been reached, the transition 245 is validated when the automated system detects a torque applied to the steering wheel or a press on the shift pedal. brake or accelerator.

En d'autres termes, le conducteur humain peut reprendre en main le véhicule à tout moment et contrer ainsi le ralentissement enclenché en étape 248, notamment pour accélérer le véhicule et poursuivre sa route en mode manuel.In other words, the human driver can take control of the vehicle at any time and thus counter the deceleration initiated in step 248, in particular to accelerate the vehicle and continue its journey in manual mode.

Une validation de la transition 245 à partir de l'étape 244 de conduite en mode autonome en conjonction avec l'une ou l'autre des étapes 246 et 248, active l'étape 340 de conduite en mode semi autonome qui provoque un ralentissement du véhicule similaire à celui de l'étape 248 ou plus prononcé qu'en étape 248 de façon à inciter fortement le conducteur humain à reprendre la totalité du contrôle de conduite du véhicule.A validation of the transition 245 from the step 244 of driving in autonomous mode in conjunction with one or the other of the steps 246 and 248, activates the step 340 of driving in semi-autonomous mode which causes a slowing down of the vehicle similar to that of step 248 or more pronounced than in step 248 so as to strongly encourage the human driver to take over all driving control of the vehicle.

A partir de l'étape 244 de mode autonome activé, la transition 245 est validée par une manifestation de présence du conducteur humain lorsqu'il veut reprendre le contrôle du véhicule en mode manuel de conduite.From step 244 of activated autonomous mode, the transition 245 is validated by a manifestation of the presence of the human driver when he wants to regain control of the vehicle in manual driving mode.

Une validation de la transition 245 active une étape 340 de conduite en mode semi autonome expliqué à présent en référence à la figure 3.A validation of the transition 245 activates a step 340 of driving in semi-autonomous mode explained now with reference to figure 3 .

Plus précisément, la transition 245 regroupe en fait deux transitions de reprise en main par le conducteur humain. Une transition 341 est validée lorsque le système automatisé détecte un couple appliqué au volant par le conducteur humain pour reprendre le contrôle du déplacement latéral. Il est possible d'utiliser à cet effet par exemple le signal de couple appliqué au volant de la direction assistée. Dans une variante possible, le système automatisé détecte une présence de préhension du volant par le conducteur humain au moyen de capteurs tactiles disposés sur le volant. Une transition 351 est validée lorsque le système automatisé détecte un effort appliqué sur la pédale de frein ou d'accélérateur par le conducteur humain pour reprendre le contrôle du déplacement longitudinal.More precisely, the transition 245 in fact groups together two transitions taken over by the human driver. A transition 341 is validated when the automated system detects a torque applied to the steering wheel by the human driver to regain control of the lateral displacement. For example, the torque signal applied to the steering wheel of the power steering can be used for this purpose. In a possible variant, the system automated system detects the presence of gripping of the steering wheel by the human driver by means of touch sensors arranged on the steering wheel. A transition 351 is validated when the automated system detects a force applied to the brake or accelerator pedal by the human driver to regain control of the longitudinal displacement.

Une validation de la transition 341 active une étape 342 d'alarme en conjonction logique avec l'étape 340 de conduite en mode semi autonome. L'étape 342 d'alarme consiste à demander au conducteur humain de reprendre rapidement en main le déplacement longitudinal qui continue momentanément à être contrôlé par le système automatisé, en appuyant sur la pédale de frein ou d'accélérateur, au moyen d'un affichage visuel et/ou d'un message sonore.A validation of the transition 341 activates an alarm step 342 in logical conjunction with the step 340 of driving in semi-autonomous mode. The alarm step 342 consists in asking the human driver to quickly resume control of the longitudinal movement which momentarily continues to be controlled by the automated system, by pressing the brake or accelerator pedal, by means of a display. visual and / or an audio message.

Simultanément dans l'une des étapes 340 ou 342, le programme d'ordinateur arme une temporisation pour mesurer un délai qui sépare la reprise des pédales de la reprise du volant.Simultaneously in one of steps 340 or 342, the computer program arms a time delay to measure a delay which separates the resumption of the pedals from the resumption of the steering wheel.

Une transition 343 est validée lorsque le délai est dépassé.A transition 343 is validated when the time limit is exceeded.

Une validation de la transition 343 active une étape 344 d'arrêt automatique qui consiste à freiner le véhicule lorsque le conducteur humain ne reprend pas rapidement en main le déplacement longitudinal qui continue à être contrôlé par le système automatisé. Pendant le freinage du véhicule en étape 344, le système automatisé prend en compte la commande de direction qui résulte du couple appliqué sur le volant par le conducteur humain. Le ralentissement du véhicule est suffisamment dissuasif pour inciter le conducteur humain à reprendre rapidement le contrôle intégral du véhicule.A validation of the transition 343 activates a step 344 of automatic stopping which consists in braking the vehicle when the human driver does not quickly take control of the longitudinal movement which continues to be controlled by the automated system. During the braking of the vehicle in step 344, the automated system takes into account the steering command which results from the torque applied to the steering wheel by the human driver. Slowing down the vehicle is sufficiently dissuasive to encourage the human driver to quickly regain full control of the vehicle.

Une transition 345 est validée lorsque le véhicule atteint une vitesse nulle.A transition 345 is validated when the vehicle reaches zero speed.

Une validation de la transition 345 active une étape 346 qui consiste à serrer le frein de parking automatique et à retourner dans l'étape initiale 140.A validation of the transition 345 activates a step 346 which consists in applying the automatic parking brake and returning to the initial step 140.

A tout moment à partir de l'étape 342 ou de l'étape 344 tant que l'étape 346 n'est pas atteinte, une transition 347 est validée lorsque le système automatisé détecte un appui sur la pédale de frein ou d'accélérateur.At any time from step 342 or step 344 as long as step 346 is not reached, a transition 347 is validated when the automated system detects a press on the brake or accelerator pedal.

Une validation de la transition 347 à partir de l'étape 340 de conduite en mode semi autonome en conjonction avec les étapes 342 et 344, réactive l'étape 144 de conduite en mode manuel expliquée précédemment en référence à la figure 1.A validation of the transition 347 from step 340 of driving in semi-autonomous mode in conjunction with steps 342 and 344, reactivates step 144 of driving in manual mode explained previously with reference to figure 1 .

Une validation de la transition 351 active une étape 352 d'alarme en conjonction logique avec l'étape 340 de conduite en mode semi autonome. L'étape 352 d'alarme consiste à demander au conducteur humain de reprendre rapidement en main le déplacement latéral qui continue momentanément à être contrôlé par le système automatisé, en agrippant le volant, au moyen d'un affichage visuel et/ou d'un message sonore.A validation of the transition 351 activates an alarm step 352 in logical conjunction with the step 340 of driving in semi-autonomous mode. The alarm step 352 consists in asking the human driver to quickly take over the lateral movement which momentarily continues to be controlled by the automated system, by gripping the steering wheel, by means of a visual display and / or a sound message.

Simultanément dans l'une des étapes 340 ou 352, le programme d'ordinateur arme une temporisation pour mesurer un délai qui sépare la reprise du volant de la reprise des pédales.Simultaneously in one of steps 340 or 352, the computer program arms a time delay to measure a delay which separates the resumption of the steering wheel from the resumption of the pedals.

Une transition 353 est validée lorsque le délai est dépassé.A transition 353 is validated when the time limit is exceeded.

Une validation de la transition 353 active une étape 354 d'arrêt automatique qui consiste à freiner le véhicule lorsque le conducteur humain ne reprend pas rapidement en main le déplacement latéral qui continue à être contrôlé par le système automatisé. Pendant le freinage du véhicule en étape 344, le système automatisé prend en compte la commande de freinage qui résulte de la pression appliquée sur la pédale de frein par le conducteur humain. Cependant une détection de pression sur la pédale d'accélération est sans effet sur le freinage imposé dans l'étape 354. Le ralentissement du véhicule est suffisamment dissuasif pour inciter le conducteur humain à reprendre rapidement le contrôle intégral du véhicule.A validation of the transition 353 activates an automatic stop step 354 which consists in braking the vehicle when the human driver does not quickly take over the lateral displacement which continues to be controlled by the automated system. During the braking of the vehicle in step 344, the automated system takes into account the braking command which results from the pressure applied to the brake pedal by the human driver. However, detection of pressure on the accelerator pedal has no effect on the braking imposed in step 354. Slowing down of the vehicle is sufficiently dissuasive to encourage the human driver to quickly regain full control of the vehicle.

Une transition 355 est validée lorsque le véhicule atteint une vitesse nulle.A 355 transition is validated when the vehicle reaches zero speed.

Une validation de la transition 355 active une étape 356 qui consiste à serrer le frein de parking automatique et à retourner dans l'étape initiale 140.A validation of the transition 355 activates a step 356 which consists in applying the automatic parking brake and returning to the initial step 140.

A tout moment à partir de l'étape 352 ou de l'étape 354 tant que l'étape 356 n'est pas atteinte, une transition 357 est validée lorsque le système automatisé détecte un couple appliqué manuellement sur le volant.At any time from step 352 or step 354 until step 356 is reached, a transition 357 is validated when the automated system detects a torque manually applied to the flywheel.

Une validation de la transition 357 à partir de l'étape 340 de conduite en mode semi autonome en conjonction avec les étapes 352 et 354, réactive l'étape 144 de conduite en mode manuel expliquée précédemment en référence à la figure 1.A validation of the transition 357 from step 340 of driving in semi-autonomous mode in conjunction with steps 352 and 354 reactivates step 144 of driving in manual mode explained previously with reference to figure 1 .

Dans une variante de réalisation, la transition 355 et l'étape 356 peuvent être remplacées respectivement par la transition 345 et l'étape 356 qui leur sont semblables.In an alternative embodiment, the transition 355 and the step 356 can be replaced respectively by the transition 345 and the step 356 which are similar to them.

Ainsi le retour en mode manuel de conduite pour sortir du mode autonome de conduite en passant par le mode semi autonome, est activé lorsque le conducteur humain reprend en main le déplacement longitudinal et le déplacement latéral. Le passage transitoire dans le mode autonome est éphémère si le conducteur humain reprend en main simultanément ou quasi simultanément, le déplacement longitudinal et le déplacement latéral, les transitions 347 et 357 étant immédiatement validées à la suite des transitions 341 et 351.Thus, the return to manual driving mode to exit from the autonomous driving mode via the semi-autonomous mode, is activated when the human driver takes control of the longitudinal displacement and the lateral displacement. The transient transition to autonomous mode is ephemeral if the human driver takes over simultaneously or almost simultaneously, longitudinal displacement and lateral displacement, transitions 347 and 357 being immediately validated following transitions 341 and 351.

Le mode optionnel de mise en œuvre du procédé présenté ici en référence à la figure 3, offre la possibilité de revenir au mode autonome de conduite lorsque la reprise en main d'une commande par le conducteur humain, n'est pas suffisamment affirmée pour marquer une volonté ferme du conducteur humain de retourner en mode manuel de conduite.The optional mode of implementation of the method presented here with reference to figure 3 , offers the possibility of returning to autonomous driving mode when the resumption of control of a command by the human driver is not sufficiently asserted to indicate a firm desire on the part of the human driver to return to manual driving mode.

Dans l'étape 342, le système automatisé mémorise temporairement un niveau maximal de couple appliqué au volant depuis la validation de la transition 341 et arme une temporisation à courte durée, par exemple de l'ordre de trois secondes.In step 342, the automated system temporarily stores a maximum level of torque applied to the flywheel since the validation of the transition 341 and sets a short time delay, for example of the order of three seconds.

Une transition 349 de lâcher rapide de volant, est validée lorsque le niveau maximal de couple mémorisé temporairement est inférieur à un seuil prédéfini et que le conducteur humain relâche rapidement son contrôle sur le déplacement latéral avant épuisement de la courte durée de la temporisation.A transition 349 of rapid release of the steering wheel is validated when the maximum level of torque stored temporarily is lower than a predefined threshold and the human driver quickly releases his control over the lateral displacement before the short duration of the time delay is exhausted.

Dans l'étape 352, le système automatisé mémorise temporairement un niveau maximal de pression appliquée sur l'une des pédales depuis la validation de la transition 351 et arme une temporisation à courte durée, par exemple de l'ordre de trois secondes.In step 352, the automated system temporarily stores a maximum level of pressure applied to one of the pedals since the validation of the transition 351 and sets a short time delay, for example of the order of three seconds.

Une transition 359 de lâcher rapide de pédale, est validée lorsque le niveau maximal de pression mémorisé temporairement est inférieur à un seuil prédéfini et que le conducteur humain relâche rapidement son contrôle sur le déplacement longitudinal avant épuisement de la courte durée de la temporisation.A transition 359 of rapid pedal release is validated when the maximum pressure level temporarily stored is below a predefined threshold and when the human driver quickly releases his control over the longitudinal displacement before the short duration of the time delay has been exhausted.

Une validation de la transition 349 ou de la transition 359 à partir de l'étape 340 de conduite en mode semi autonome, réactive alors l'étape 244 de conduite en mode autonome expliquée ci-dessus en référence à la figure 2.A validation of the transition 349 or of the transition 359 from the step 340 of driving in semi-autonomous mode, then reactivates the step 244 of driving in the autonomous mode explained above with reference to the figure 2 .

La sortie du mode autonome est réalisable à tout instant à l'initiative du conducteur humain en passant par le mode semi autonome, de manière réversible ou irréversible en fonction de l'existence ou non des transitions 349, 359.The exit from the autonomous mode can be carried out at any time on the initiative of the human driver by going through the semi-autonomous mode, in a reversible or irreversible manner depending on the existence or not of the transitions 349, 359.

D'autres sorties du mode autonome peuvent être envisagées sans sortir du cadre de la présente invention, quelle que soit la structure du mode autonome choisie.Other outputs from the autonomous mode can be envisaged without departing from the scope of the present invention, whatever the structure of the autonomous mode chosen.

Claims (8)

  1. Method for operating a vehicle comprising at least one step (144) of driving in manual mode in which a longitudinal displacement and a lateral displacement are controlled by a human driver and at least one step (244) of driving in autonomous mode in which the longitudinal displacement and the lateral displacement are controlled by an automated system, comprising:
    - a step (246) of alerting the human driver activated at least in autonomous mode when the automated system receives (243) a first distance (D1) which separates the vehicle from an end of zone in which the autonomous mode is authorized; and
    - a step (248) of automatically stopping the vehicle before reaching the end of zone, activated in autonomous mode when the human driver does not take back control of the vehicle after the reception of said first distance (D1) by the automated system;
    characterized in that the automated system computes, from a maximum speed authorized over said first distance (D1), a second distance (D2) making it possible to stop the vehicle as a function of a deceleration accessed and/or computed by the automated system to be used in the automatic stopping step (248).
  2. Method according to Claim 1, in which the step (248) of automatically stopping the vehicle is activated when said first distance (D1) is less than or equal to said second distance (D2).
  3. Method according to one of Claims 1 to 2, in which said deceleration is of constant gauged value for the vehicle and said second distance (D2) comprises a first length proportional to a square of speed of the vehicle and inversely proportional to twice said deceleration.
  4. Method according to Claim 3, in which said second distance (D2) comprises a fixed second length added to said first length.
  5. Method according to one of Claims 1 to 4, in which said deceleration is of a value low enough to avoid prejudicing the comfort of the passengers of the vehicle.
  6. Computer program comprising program code instructions for the execution of the steps of the method according to one of Claims 1 to 5 when said program is run on a computer.
  7. Automated system comprising a computer in which is installed a computer program according to Claim 6.
  8. Vehicle, notably a motor vehicle, comprising an automated system according to Claim 7.
EP14727741.2A 2013-05-27 2014-05-15 Operating method for a vehicle in manual mode and in autonomous mode Active EP3003812B1 (en)

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FR1354744A FR3005924B1 (en) 2013-05-27 2013-05-27 METHOD FOR OPERATING A VEHICLE IN MANUAL MODE AND IN AUTONOMOUS MODE
PCT/EP2014/059902 WO2014191209A1 (en) 2013-05-27 2014-05-15 Operating method for a vehicle in manual mode and in autonomous mode

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EP3003812A1 (en) 2016-04-13
JP2016539037A (en) 2016-12-15
US20160107655A1 (en) 2016-04-21
US9908534B2 (en) 2018-03-06
JP6449254B2 (en) 2019-01-09
FR3005924A1 (en) 2014-11-28
WO2014191209A1 (en) 2014-12-04
FR3005924B1 (en) 2016-10-21

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